Turbot4-ARM机器人入门教程-配置-NoMachine远程桌面

文章说明

• 介绍如何使用NoMachine软件远程控制Turbot4_arm的主控PC上

测试环境

• NUC系统版本：Ubuntu 22.04 + ROS Humble

操作步骤

• NoMachine远程桌面软件 | 官网下载地址

• MobaXterm远程终端管理软件 | 官网下载地址
  有显示屏情况下：

• 准备一条HDMI线

• 将HDMI线的一头插入NUC的HDMI输入接口，另一头插入显示屏的HDMI输入接口

• 启动NUC，进入界面，打开新的终端terminal，使用命令ifconfig，查看的ip地址

注意：初次使用时，NUC需要连上本地的WIFI网络

$ ifconfig
eno1: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether 88:ae:dd:04:00:3c  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 16  memory 0x96300000-96320000  

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 295  bytes 23280 (23.2 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 295  bytes 23280 (23.2 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlp0s20f3: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.0.55  netmask 255.255.255.0  broadcast 192.168.0.255
        inet6 fe80::db5d:9ba7:bd7a:934d  prefixlen 64  scopeid 0x20<link>
        ether 60:dd:8e:68:c0:ae  txqueuelen 1000  (Ethernet)
        RX packets 1152  bytes 780846 (780.8 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 814  bytes 72298 (72.2 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

• 得到Turbot4的ip地址为：192.168.0.55

• 执行命令后，打开NoMachine软件，远程连接上Turbot4，就可以正常显示画面

完全没有显示屏情况下：

• 准备一条连接着路由器的网线

• 在Linux终端 或 其他PC终端上，执行以下命令

• 先使用nmap检索当前wifi网络的ip地址

$ nmap -sP 192.168.0.0/24

Starting Nmap 7.80 ( https://nmap.org ) at 2022-09-25 15:39 CST
Nmap scan report for _gateway (192.168.0.1)
Host is up (0.0049s latency).
Nmap scan report for 192.168.0.12
Host is up (0.050s latency).
Nmap scan report for 192.168.0.38
Host is up (0.13s latency).
Nmap scan report for 192.168.0.44
Host is up (0.0064s latency).
Nmap done: 256 IP addresses (16 hosts up) scanned in 6.45 seconds

• 再使用连接着路由器的网线，插入NUC的网口，自动获取ip地址

• 使用命令nmap检索当前wifi网络的ip

$ nmap -sP 192.168.0.0/24

Starting Nmap 7.80 ( https://nmap.org ) at 2022-09-25 15:39 CST
Nmap scan report for _gateway (192.168.0.1)
Host is up (0.0049s latency).
Nmap scan report for 192.168.0.12
Host is up (0.050s latency).
Nmap scan report for 192.168.0.38
Host is up (0.13s latency).
Nmap scan report for 192.168.0.44
Host is up (0.0064s latency).
Nmap scan report for T4-V300 (192.168.0.55)
Host is up (0.00020s latency).
Nmap done: 256 IP addresses (16 hosts up) scanned in 6.45 seconds

• 对比前面的检索，就可以过滤到Turbot4当前的ip地址：192.168.0.55

Nmap scan report for T4_ARM-V400 (192.168.0.55)

• 除了以上获取Turbot4的IP的方法，也可以查看路由器管理界面，对比一下，来查看Turbot4当前的ip地址

• 使用ssh方式远程Turbot4，输入以下命令

sudo systemctl stop gdm
sudo /etc/NX/nxserver --restart

• 执行命令后，打开NoMachine软件，连接上Turbot4就可以正常显示画面

演示视频